⚡️ Optimize Planner calculations (MarlinFirmware#24484)

Marlin/Configuration.h

@@ -487,7 +487,7 @@
 // Use temp sensor 1 as a redundant sensor with sensor 0. If the readings
 // from the two sensors differ too much the print will be aborted.
 //#define TEMP_SENSOR_1_AS_REDUNDANT
-#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
+#define TEMP_SENSOR_REDUNDANT_MAX_DIFF 10
 
 #define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
 #define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer

Marlin/src/gcode/wifi/M79.cpp

@@ -207,4 +207,4 @@ void GcodeSuite::M79()
       rtscheck.RTS_SndData((next_remain_time_update % 3600) / 60, PRINT_REMAIN_TIME_MIN_VP);
     #endif
   }
-}
+}

Marlin/src/lcd/dwin/dwin_lcd.h

@@ -234,4 +234,4 @@ void DWIN_ICON_Animation(uint8_t animID, bool animate, uint8_t libID, uint8_t pi
 void DWIN_ICON_AnimationControl(uint16_t state);
 
 void DWIN_ICON_SHOW_SRAM(uint16_t x,uint16_t y,uint16_t addr);
-void DWIN_SHOW_MAIN_PIC();
+void DWIN_SHOW_MAIN_PIC();

Marlin/src/lcd/dwin/e3v2/lcd_rts.cpp

@@ -941,4 +941,4 @@ char Parse_Only_Picture_Data(char* fileName, char * time, char * FilamentUsed, c
 	}while(1);
 }
 */
-////////////////////////////
+////////////////////////////

Marlin/src/lcd/dwin/e3v2/lcd_rts.h

@@ -97,4 +97,4 @@ extern model_information_t model_information;
 extern uint8_t gcodePicDataSendToDwin(char *, unsigned int , unsigned char , unsigned char );
 extern uint8_t read_gcode_model_information(void);
 extern char Parse_Only_Picture_Data(char* fileName,char * time, char * FilamentUsed, char * layerHeight);
-#endif
+#endif

Marlin/src/lcd/dwin/e3v2/ui_position.h

@@ -317,4 +317,4 @@
 
 #endif 
 
-#endif   //E3S1_LASER_H
+#endif   //E3S1_LASER_H

Marlin/src/lcd/tft/fontdata/profont_22.cpp

@@ -1,6 +1,6 @@
 /*
   Fontname: ProFont22
-  Copyright: ProFont Distribution 2.2 Ñ Generated by Fontographer 4.1.5
+  Copyright: ProFont Distribution 2.2 � Generated by Fontographer 4.1.5
   Capital A Height: 14, '1' Height: 14
   Calculated Max Values w=12 h=22 x= 6 y=12 dx=12 dy= 0 ascent=18 len=44
   Font Bounding box     w=12 h=21 x= 0 y=-4

Marlin/src/module/AutoOffset.h

@@ -246,4 +246,4 @@ bool probeByPress(xyz_float_t rdyPos_mm, float* outZ);
 bool probeByTouch(xyz_float_t rdyPos_mm, float* outZ);
 bool getZOffset(bool nozzleClr, bool runProByPress, bool runProByTouch, float* outOffset);
 #endif
-#endif
+#endif

Marlin/src/module/PressLeveled.cpp

@@ -855,4 +855,4 @@ void doG212ExCmd(void)
     clearNozzle(120, 200, 60, PA_FIL_LEN_MM);
   }
 }
-#endif
+#endif

Marlin/src/module/planner.cpp

@@ -799,22 +799,34 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
 
   const int32_t accel = block->acceleration_steps_per_s2;
 
-          // Steps required for acceleration, deceleration to/from nominal rate
-  uint32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
-           decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel));
-          // Steps between acceleration and deceleration, if any
-  int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
-
-  // Does accelerate_steps + decelerate_steps exceed step_event_count?
-  // Then we can't possibly reach the nominal rate, there will be no cruising.
-  // Use intersection_distance() to calculate accel / braking time in order to
-  // reach the final_rate exactly at the end of this block.
-  if (plateau_steps < 0) {
-    const float accelerate_steps_float = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
-    accelerate_steps = _MIN(uint32_t(_MAX(accelerate_steps_float, 0)), block->step_event_count);
-    decelerate_steps = block->step_event_count - accelerate_steps;
-    plateau_steps = 0;
-
+  // Steps for acceleration, plateau and deceleration
+  int32_t plateau_steps = block->step_event_count;
+  uint32_t accelerate_steps = 0,
+           decelerate_steps = 0;
+
+  if (accel != 0) {
+    // Steps required for acceleration, deceleration to/from nominal rate
+    const float nominal_rate_sq = sq(float(block->nominal_rate));
+    float accelerate_steps_float = (nominal_rate_sq - sq(float(initial_rate))) * (0.5f / accel);
+    accelerate_steps = CEIL(accelerate_steps_float);
+    const float decelerate_steps_float = (nominal_rate_sq - sq(float(final_rate))) * (0.5f / accel);
+    decelerate_steps = decelerate_steps_float;
+
+<<<<<<< HEAD
+=======
+    // Steps between acceleration and deceleration, if any
+    plateau_steps -= accelerate_steps + decelerate_steps;
+
+    // Does accelerate_steps + decelerate_steps exceed step_event_count?
+    // Then we can't possibly reach the nominal rate, there will be no cruising.
+    // Calculate accel / braking time in order to reach the final_rate exactly
+    // at the end of this block.
+    if (plateau_steps < 0) {
+      accelerate_steps_float = CEIL((block->step_event_count + accelerate_steps_float - decelerate_steps_float) * 0.5f);
+      accelerate_steps = _MIN(uint32_t(_MAX(accelerate_steps_float, 0)), block->step_event_count);
+      decelerate_steps = block->step_event_count - accelerate_steps;
+
+>>>>>>> fc0615fbd1 (⚡️ Optimize Planner calculations (#24484))
       #if ENABLED(S_CURVE_ACCELERATION)
         // We won't reach the cruising rate. Let's calculate the speed we will reach
         cruise_rate = final_speed(initial_rate, accel, accelerate_steps);
@@ -1449,7 +1461,7 @@ void Planner::check_axes_activity() {
     for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
       const block_t * const block = &block_buffer[b];
       if (NUM_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k, || block->steps.u, || block->steps.v, || block->steps.w)) {
-        const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
+        const float se = float(block->steps.e) / block->step_event_count * block->nominal_speed; // mm/sec
         NOLESS(high, se);
       }
     }
@@ -2390,7 +2402,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   if (speed_factor < 1.0f) {
     current_speed *= speed_factor;
     block->nominal_rate *= speed_factor;
-    block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor);
+    block->nominal_speed *= speed_factor;
   }
 
   // Compute and limit the acceleration rate for the trapezoid generator.

Marlin/src/module/temperature.cpp

@@ -1264,7 +1264,7 @@ void Temperature::manage_heater() {
 
       #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
         // Make sure measured temperatures are close together
-        if (ABS(degHotend(0) - degHotendRedundant()) > MAX_REDUNDANT_TEMP_SENSOR_DIFF)
+        if (ABS(degHotend(0) - degHotendRedundant()) > TEMP_SENSOR_REDUNDANT_MAX_DIFF)
           _temp_error(H_E0, PSTR(STR_REDUNDANCY), GET_TEXT(MSG_ERR_REDUNDANT_TEMP));
       #endif
 

Marlin/src/pins/stm32f1/pins_CREALITY_S1.h

@@ -234,4 +234,4 @@
    #define SPINDLE_DIR_PIN                  PC0  // FET 4
 
    #define LASER_SOFT_PWM_PIN				PC0  //激光软PWM引脚
-  #endif
+  #endif

Marlin/src/pins/stm32f1/pins_CREALITY_V3_GD303.h

@@ -258,4 +258,4 @@
 
   #define BEEPER_PIN                        PA5
 
-#endif
+#endif

Marlin/src/pins/stm32f4/pins_CREALITY_S1_F401RC.h

@@ -232,4 +232,4 @@
   #define SPINDLE_DIR_PIN                  PC0  // FET 4
 
   #define LASER_SOFT_PWM_PIN               PC0  // Laser soft PWM pin
-#endif
+#endif

buildroot/share/PlatformIO/variants/MARLIN_F103Rx/PinNamesVar.h

@@ -27,4 +27,4 @@
 #ifdef USBCON
   USB_DM = PA_11,
   USB_DP = PA_12,
-#endif
+#endif

buildroot/share/PlatformIO/variants/MARLIN_FYSETC_CHEETAH_V20/PinNamesVar.h

@@ -30,4 +30,4 @@
   USB_OTG_FS_ID = PA_10,
   USB_OTG_FS_DM = PA_11,
   USB_OTG_FS_DP = PA_12,
-#endif
+#endif

buildroot/share/PlatformIO/variants/MARLIN_FYSETC_CHEETAH_V20/variant.cpp

@@ -235,4 +235,4 @@ WEAK void SystemClock_Config(void)
 
 #ifdef __cplusplus
 }
-#endif
+#endif

buildroot/share/PlatformIO/variants/MARLIN_FYSETC_CHEETAH_V20/variant.h

@@ -148,4 +148,4 @@ extern "C" {
   #define SERIAL_PORT_HARDWARE_OPEN   Serial2
 #endif
 
-#endif /* _VARIANT_ARDUINO_STM32_ */
+#endif /* _VARIANT_ARDUINO_STM32_ */